다중채널 Lidar를 이용한 수직갱도 조사용 3차원 형상화 장비 구현

Abstract

Whenever a mineshaft accidentally collapses, speedy risk assessment is both required and crucial. But onsite safety diagnosis by humans is reportedly difficult considering the additional risk of collapse of the unstable mineshaft. Generally, drones equipped with high-speed lidar sensors can be used for such inspection. However, the drone technology is restrictively applicable at very shallow depth, failing in mineshafts with depths of hundreds of meters because of the limit of wireless communication and turbulence inside the mineshaft. In previous study, a three-dimensional (3D) scanning system with a single channel lidar was fabricated and operated using towed cable in a mineshaft to a depth of 200 m. The rotation and pendulum movement errors of the measuring unit were compensated for by applying the data of inertial measuring unit and comparing the similarity between the scan data of the adjacent depths (Kim et al., 2020). However, the errors grew with scan depth. In this paper, a multi-channel lidar sensor to obtain a continuous cross-sectional image of the mineshaft from a winch system pulled from bottom upward. In this new approach, within overlapped region viewed by the multi-channel lidar, rotation error was compensated for by comparing the similarity between the scan data at the same depth. The fabricated system was applied to scan 0-165 m depth of the mineshaft with 180 m depth. The reconstructed image was depicted in a 3D graph for interpretation.